Manipulation planning on constraint manifolds

Dmitry Berenson, Siddhartha S. Srinivasa, Dave Ferguson, James J. Kuffner. Manipulation planning on constraint manifolds. In 2009 IEEE International Conference on Robotics and Automation, ICRA 2009, Kobe, Japan, May 12-17, 2009. pages 625-632, IEEE, 2009. [doi]

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